CN112476423B - Method, device and equipment for controlling joint motor of robot and storage medium - Google Patents

Method, device and equipment for controlling joint motor of robot and storage medium Download PDF

Info

Publication number
CN112476423B
CN112476423B CN202011263920.4A CN202011263920A CN112476423B CN 112476423 B CN112476423 B CN 112476423B CN 202011263920 A CN202011263920 A CN 202011263920A CN 112476423 B CN112476423 B CN 112476423B
Authority
CN
China
Prior art keywords
motor
joint motor
joint
temperature
heat flow
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202011263920.4A
Other languages
Chinese (zh)
Other versions
CN112476423A (en
Inventor
王帅
翁创鸿
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tencent Technology Shenzhen Co Ltd
Original Assignee
Tencent Technology Shenzhen Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tencent Technology Shenzhen Co Ltd filed Critical Tencent Technology Shenzhen Co Ltd
Priority to CN202011263920.4A priority Critical patent/CN112476423B/en
Publication of CN112476423A publication Critical patent/CN112476423A/en
Application granted granted Critical
Publication of CN112476423B publication Critical patent/CN112476423B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

The application relates to a method, a device, equipment and a storage medium for controlling a joint motor of a robot, and relates to the technical field of robots. The method comprises the following steps: acquiring the external temperature of a joint motor of the robot, wherein the external temperature comprises at least one of the ambient temperature and the temperature of a motor shell; acquiring heat flow information of the joint motor based on the external temperature; the heat flow information is used for indicating the heat flow of a motor winding of the joint motor; acquiring control parameters of the joint motor based on the heat flow information; and controlling the joint motor based on the control parameter. In the process of controlling the joint motor, the torque of the joint motor is adjusted through the heat flow information, rapid aging of internal devices of the joint motor under continuous high-load operation is avoided, and the work efficiency of the joint motor is improved while the joint motor is protected.

Description

Method, device and equipment for controlling joint motor of robot and storage medium
Technical Field
The present disclosure relates to the field of robot technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a joint motor of a robot.
Background
With the continuous development of the robot technology, the working strength of the multi-joint robot is higher and higher, and joint motors of the robot are easier to damage.
In the related art, in order to prevent damage of the joint motor, an upper limit of torque of the fixed joint motor is set, thereby protecting the joint motor.
However, although the joint motor is protected in the prior art, the maximum working torque of the joint motor itself is also limited, which results in low working efficiency of the joint motor.
Disclosure of Invention
The embodiment of the application provides a method, a device and equipment for controlling a joint motor of a robot and a storage medium, which can improve the working efficiency of the joint motor while protecting the joint motor.
In one aspect, there is provided a joint motor control method of a robot, the method including:
acquiring the external temperature of a joint motor of the robot, wherein the external temperature comprises at least one of the ambient temperature and the temperature of a motor shell;
acquiring heat flow information of the joint motor based on the external temperature; the heat flow information is used for indicating the heat flow of a motor winding of the joint motor;
acquiring control parameters of the joint motor based on the heat flow information;
controlling the joint motor based on the control parameter.
In still another aspect, there is provided a joint motor control apparatus of a robot, the apparatus including:
the external temperature acquisition module is used for acquiring the external temperature of a joint motor of the robot, and the external temperature comprises at least one of the ambient temperature and the temperature of a motor shell;
the heat flow information acquisition module is used for acquiring heat flow information of the joint motor based on the external temperature; the heat flow information is used for indicating the heat flow of a motor winding of the joint motor;
the control parameter acquisition module is used for acquiring control parameters of the joint motor based on the heat flow information;
and the motor control module is used for controlling the joint motor based on the control parameters.
In a possible implementation manner, the control parameter obtaining module includes:
the working space path acquisition sub-module is used for acquiring a working space path of the joint motor, wherein the working space path is a path which moves in a space when a mechanical assembly controlled by the joint motor executes a specified task;
and the control parameter acquisition submodule is used for acquiring the control parameters of the joint motor based on the working space path and the heat flow information.
In a possible implementation manner, the control parameter obtaining sub-module includes:
the weight obtaining unit is used for obtaining a weight value of the torque energy of the joint motor on the working space path based on the heat flow information;
a control parameter obtaining unit, configured to obtain the control parameter of the joint motor based on a weighted value of torque energy of the joint motor on the working space path; the weight value is inversely related to the rate of increase of the moment.
In a possible implementation manner, the control parameter obtaining unit is further configured to enable the control parameter to include: the joint motor corresponds to the moment on each time point of the working space path, the corresponding relation between the angle corresponding to the joint motor and each time point, the corresponding relation between the angular velocity of the joint motor and each time point, and the corresponding relation between the angular acceleration of the joint motor and each time point.
In a possible implementation manner, the control parameter obtaining unit includes:
a local linear processing subunit, configured to segment the working space path based on a local linearization method, and obtain N linear working space path segments, where N is an integer and is greater than or equal to 1;
and the control parameter acquisition subunit is used for acquiring the control parameters of the joint motor based on the N linear working space path sections and the weighted values of the moment energy of the joint motor on the working space path.
In a possible implementation manner, the control parameter obtaining subunit is further configured to respectively process the N linear working space path segments based on a weight value of the torque energy of the joint motor on the working space path and a specified constraint condition, so as to obtain a control parameter of the joint motor; the specified constraints include: dynamic constraints, angular velocity constraints, angular acceleration constraints, and moment constraints.
In a possible implementation manner, the control parameter obtaining subunit is further configured to, based on a weight value of the torque energy of the joint motor on the working space path and a specified constraint condition, respectively process the N linear working space path segments through a planning solver, and obtain the control parameter of the joint motor.
In a possible implementation manner, the working space path obtaining sub-module is further configured to obtain the working space path of the joint motor through the designated task based on a space path planning method, and the space path planning method includes an a-star algorithm.
In one possible implementation, the heat flow information obtaining module includes:
the motor temperature acquisition submodule is used for acquiring the motor temperature of the joint motor based on the external temperature;
and the heat flow information acquisition submodule is used for acquiring the heat flow information of the joint motor based on the motor temperature and the external temperature.
In a possible implementation manner, the heat flow information obtaining sub-module is further configured to obtain the heat flow information of the joint motor based on the motor temperature, the external temperature, the internal resistance of the winding of the joint motor, and the resistance temperature coefficient of the joint motor.
In one possible implementation, the motor temperature obtaining sub-module includes:
an input current acquisition unit for acquiring an input current of the joint motor;
and the motor temperature acquisition unit is used for acquiring the motor temperature of the joint motor based on the external temperature, the input current of the joint motor and the heat conduction model.
In a possible implementation manner, the heat flow information obtaining sub-module is further configured to obtain the heat flow information of the joint motor based on the motor temperature and the external temperature in response to that the motor temperature is less than a motor temperature threshold.
In yet another aspect, a robot apparatus is provided, which includes a processor/controller and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor/controller to implement the joint motor control method of the robot.
In still another aspect, a computer-readable storage medium is provided, wherein at least one program code is stored in the storage medium, and the program code is loaded and executed by a processor to implement the joint motor control method of the robot.
In yet another aspect, a computer program product or computer program is provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor/controller of the computer device reads the computer instructions from the computer-readable storage medium, and the processor/controller executes the computer instructions, so that the computer device performs the joint motor control method of the robot described above.
The technical scheme provided by the application can comprise the following beneficial effects:
in the process of controlling the joint motor, heat flow information of the joint motor is obtained by using the acquired external temperature; then based on the heat flow information, obtaining control parameters of the joint motor; on the one hand, because when the operation of control joint motor, consider that the motor generates heat to motor moving influence, consequently, when the temperature of motor is lower, can export bigger moment, improve joint motor's work efficiency, and when the temperature of motor is higher, can let the motor stall, reduce motor winding's temperature, avoid joint motor problem such as inside device is ageing rapidly under lasting high load operation, thereby realized when protecting joint motor, promote joint motor's work efficiency.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic flow diagram illustrating a method for joint motor control of a robot in accordance with an exemplary embodiment;
FIG. 2 is a schematic flow diagram illustrating a method for joint motor control of a robot in accordance with an exemplary embodiment;
FIG. 3 is a model diagram illustrating a heat conduction model template according to an exemplary embodiment;
FIG. 4 is a simulated schematic of the joint moments of a group A multi-jointed robot according to an exemplary embodiment;
FIG. 5 is a simulated schematic of the joint moments of a group B multi-jointed robot according to an exemplary embodiment;
fig. 6 is a block diagram showing a structure of a joint motor control apparatus of a robot according to an exemplary embodiment;
fig. 7 is a block diagram illustrating a configuration of a robotic device according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
1) Artificial Intelligence (AI)
Artificial intelligence is a theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making.
The artificial intelligence technology is a comprehensive subject and relates to the field of extensive technology, namely the technology of a hardware level and the technology of a software level. The artificial intelligence infrastructure generally includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.
2) Joint Robot (articular Robot)
An articulated robot, also called an articulated arm robot or an articulated robot arm, is one of the most common forms of industrial robots in the industrial field today, and is suitable for mechanical automation operations in many industrial fields.
3) Heat flow (Heat Flux)
Heat flux, also known as heat flow, refers to the amount of heat energy passing through an area per unit time, and is a directional vector, which in the international system of units is expressed in joules per second (i.e., watts).
4) Restraint (Constraint)
Constraints are constraints on the movement or position of an object. In analytical mechanics, constraints are defined as: imposed on the system, limits anything that its configuration changes (displacement).
5) A star Algorithm (A-star Algorithm)
The a-star search algorithm is colloquially referred to as the a-star algorithm. The algorithm a is one of the more popular heuristic search algorithms, and is widely applied to the field of path optimization. The method is characterized in that global information is introduced when each possible node in the shortest path is checked, the distance between the current node and the end point is estimated, and the estimated distance is used as a measure for evaluating the possibility that the node is positioned on the shortest path.
6) Local linearization (local linearization)
Local linearization is one concept that discusses the linearization of differential equations. For the differential equation system (dx/dt) ═ f (t, x), where f (t, 0) is 0 and (dx/dt) ═ f (t, x) is topologically equivalent to the zero solution variable equation system (dx/dt) ═ D f (t, 0) x in some neighborhood of the origin, then (dx/dt) ═ f (t, x) is said to be locally linearized.
7) Mathematics planning Solver (Mathematical Programming Solver)
The mathematical programming solver is a solver for algorithm optimization aiming at various established linear, integer and various nonlinear programming models.
Please refer to fig. 1, which is a flowchart illustrating a method for controlling joint motors of a robot according to an exemplary embodiment. As shown in fig. 1, the flow of the joint motor control method of the robot may include the following steps:
step 101, obtaining an external temperature of a joint motor of the robot, wherein the external temperature comprises at least one of an ambient temperature and a motor shell temperature.
In one possible implementation, the joint motor is an ultrasonic motor, and the ultrasonic motor can be controlled by a matched driver.
In another possible implementation, the joint motor is an inner rotor surface mount motor.
The embodiment of the present application does not limit the type of the joint motor.
In one possible implementation, the robot is a robotic arm.
In one possible implementation, the robot is a legged robot.
For example, the robot may be a hydraulic legged robot, and the hydraulic legged robot has 4 joint motors that can perform the tasks specified by the technician.
In a possible implementation manner, the external temperature is acquired by a temperature sensor preset outside the joint motor.
102, acquiring heat flow information of the joint motor based on the external temperature; the heat flow information is indicative of heat flow of motor windings of the joint motor.
In one possible implementation, the heat flow of the motor winding of the shutdown motor can be obtained in combination with the external temperature and a preset conversion function.
And 103, acquiring control parameters of the joint motor based on the heat flow information.
In one possible implementation, the control parameter is used to control a motion parameter of the joint motor.
For example, the motion parameter may be at least one of a joint angle, an angular velocity, and an angular acceleration of the joint motor.
And 104, controlling the joint motor based on the control parameter.
In conclusion, in the process of controlling the joint motor, the heat flow information of the joint motor is obtained by using the acquired external temperature; then based on the heat flow information, obtaining control parameters of the joint motor; on the one hand, because when the operation of control joint motor, consider that the motor generates heat to motor moving influence, consequently, when the temperature of motor is lower, can export bigger moment, improve joint motor's work efficiency, and when the temperature of motor is higher, can let the motor stall, reduce motor winding's temperature, avoid joint motor problem such as inside device is ageing rapidly under lasting high load operation, thereby realized when protecting joint motor, promote joint motor's work efficiency.
From the bionic point of view, the temperature of the joint motor of the robot is equivalent to the joint pain sense of a human body, the phenomenon that the excitation is affected by the insulation of the winding and even the motor is burnt is reduced due to overhigh temperature, and the joint abrasion and even the permanent paralysis are similar to the joint abrasion and even the permanent paralysis caused by the violent movement of the human body, so that the upper limit of the temperature which can be born by the winding is actually restrained by the output of the motor. This application starts from joint motor heat-conduction model to the sense of pain of people's joint is imitated to winding temperature, under the condition in known working space route, the time curve of the target orbit of each joint motor of planning robot, when the motor winding of joint motor is overheated, can reduce speed and output torque automatically, avoid the joint motor to damage, when the motor temperature (also called motor winding temperature) of joint motor is lower, can improve speed and output torque, improve the efficiency of joint motor.
When only the minimum time is considered, or the time and the optimal total energy consumption of all joints are considered, the planning period has no adaptability to the change of the motor characteristics, and when the temperature of the motor is too high, the motor is required to output large torque, so that the motor is likely to be burnt; when the temperature of the motor is low, the torque output of the motor is excessively restrained, so that the performance of the motor is limited. If a temperature sensor is used to directly monitor the winding temperature and set the emergency stop threshold, the motor structure will be more complex and the continuous implementation of the task will be not facilitated. To this end, the solution shown in the various embodiments of the present application estimates the temperature of the motor windings by establishing a thermal conduction model and dynamically adjusts the planning curve based on the pain sensation.
That is, the scheme shown in the present application proposes: and establishing a heat conduction model of the joint motor, and constraining the motion of the joint motor of the robot through heat flow information so that the robot sets a proper task execution process according to the temperature of the motor winding. When the joint runs well (the motor temperature is lower), the speed and the acceleration corresponding to the planning result are higher, and the sustainable running time is longer; and when the temperature of the motor is higher, the planner avoids the motor from being burnt out due to overheating by reducing the torque output, reducing the speed, prolonging the operation time and balancing the load of each joint. Namely, joint pain sensation is simulated by utilizing the motor thermal model, and a heavy load task can be quickly operated when the pain sensation is not obvious in the track planning process, so that the performance of the motor is fully exerted; when the pain sense is obvious, the planner limits the torque output of the motor and reduces the speed and the acceleration for self protection, thereby ensuring that the motor is not burnt out when running safely. Compared with time-energy optimal trajectory planning, the method can reduce the failure rate and maintenance cost of the robot and improve the autonomy and self-protection capability of the robot. On the premise of not improving the calculation complexity, the planner can adapt to the temperature change and make adjustment by restricting the heat flow, so that the temperature is prevented from rising rapidly, and the temperature detection module can effectively prevent the motor from being burnt out due to overheating.
Please refer to fig. 2, which is a flowchart illustrating a method for controlling joint motors of a robot according to an exemplary embodiment. The method may be executed by a processor in a robot, and as shown in fig. 2, the flow of the joint motor control method of the robot may include the following steps:
step 201, obtaining an external temperature of a joint motor of the robot, wherein the external temperature comprises at least one of an ambient temperature and a motor housing temperature.
In one possible implementation, a temperature sensor is provided outside the robot, and the temperature outside the robot is obtained by the temperature sensor.
For example, in the case where the robot is a foot robot, a temperature sensor may be provided outside a foot joint motor of the foot robot, and the temperature sensor may acquire a temperature of a housing of the foot joint motor.
Alternatively, in the case where the robot is a foot robot, a single temperature sensor for acquiring an ambient temperature around the robot is provided outside the foot robot, and the ambient temperature is shared by a plurality of joint motors of the foot robot.
In another possible implementation, the external temperature may be preset by a developer. For example, in an exemplary scenario where temperature control is more demanding, the ambient temperature of the joint motor needs to be tightly controlled within a smaller temperature range, for which the developer can determine a fixed external temperature directly based on the temperature range in which the robot is operating.
And step 202, acquiring the motor temperature of the joint motor based on the external temperature.
In the embodiment of the present application, the motor temperature of the joint motor may be acquired based on the external temperature by means of the heat conduction model.
In one possible implementation, the input current of the joint motor is obtained; and acquiring the motor temperature of the joint motor based on the external temperature, the input current of the joint motor and the heat conduction model.
In an exemplary scheme, an external temperature and an input current are input into a heat conduction model, and a motor temperature of a joint motor is acquired.
In an exemplary scheme, the square of the input current and the external temperature are used as input signals and input into a heat conduction model, and the motor temperature of the joint motor is obtained.
For example, the input current is 2A, the external temperature is 24 degrees celsius, the input signal may be 4, and 24 degrees celsius.
In one possible approach, the principle of obtaining the motor temperature through the heat conduction model may refer to fig. 3, which shows a schematic diagram of the heat conduction model according to the embodiment of the present application, and the whole heat conduction model may be represented by the following formula:
Figure BDA0002775512750000091
Figure BDA0002775512750000092
T1(t)≤Tu
wherein, T1、T2、TaAnd TuRespectively representing the motor temperature, the shell temperature, the environment temperature and the upper limit of the motor temperature, R1、R2、C1And C2Respectively representing the thermal resistance of the motor winding to the shell, the thermal resistance of the shell to the environment, and the windingEnd heat capacity and ambient heat capacity. PeRepresenting the heat flow that causes the winding to heat, which is mainly derived from the moment work corresponding to the current.
The heat conduction model is added into the time optimal planning problem, the track of the joint motor is directly obtained through optimization, and the track can be adjusted along with the temperature change. Compared with the related art, the heat conduction model considers heat generation and heat dissipation at the same time, and has wider applicability.
In one possible implementation, the ambient temperature/motor housing temperature is measured by an external temperature sensor, the input current is measured by a current sensor inside the robot, and the input signal is formed as i by the above formula2The output is the motor temperature T1And finally estimating the temperature of the motor. Compared with a built-in temperature sensor, the method can effectively simplify the internal structure and reduce the cost.
Step 203, obtaining the heat flow information of the joint motor based on the motor temperature and the external temperature.
In one possible implementation mode, acquiring component parameters inside a joint motor; and acquiring heat flow information of the joint motor based on the component parameters, the motor temperature and the external temperature.
In an exemplary scheme, the heat flow information of the joint motor is acquired based on the motor temperature, the external temperature, the internal winding resistance of the joint motor, and the resistance temperature coefficient of the joint motor.
In one exemplary approach, the heat flow information may be represented by the following equation:
Pe＝R0(1+αT1-αTa)i2＝R0(1+αT1-αTa)τ2/ki 2
i＝τ/ki
wherein, Pe、τ、i、ki、R0、α、T1、TaRespectively showing heat flow, moment, current, torque coefficient, winding internal resistance, resistance temperature coefficient, motor temperature and environment temperature of motor winding, iRepresenting the current of the motor winding. For example, the proportionality coefficient changes to about 1.2 times of the original value every 100 ℃ rise in temperature.
In one possible implementation, in response to the motor temperature being less than a motor temperature threshold, the heat flow information of the joint motor is obtained based on the motor temperature and the external temperature.
In one exemplary approach, the motor stops when the motor temperature is greater than the motor temperature threshold.
In one exemplary approach, the motor stops when the motor temperature is greater than a motor temperature threshold; and when the temperature of the motor drops below the temperature threshold, the motor is restarted and current heat flow information is acquired.
For example, the motor temperature threshold is 30 degrees celsius, when the motor continuous operation temperature exceeds 30 degrees celsius, the motor stops operating, and when the motor temperature drops below 30 degrees celsius, the motor restarts, acquires the current heat flow information, and continues to perform the planning of the workspace path.
In an exemplary approach, the motor temperature threshold is obtained by the material of the motor windings.
For example, the motor winding is made of a material A, the working internal resistance of the material A is 3 times of the original working internal resistance at 200 ℃, or the material A can be melted or failed at 200 ℃; at this time, 200 degrees celsius may be used as a threshold value of the motor temperature.
In one exemplary approach, the motor stops when the motor temperature is greater than a motor temperature threshold; and when the temperature of the motor is reduced to a preset temperature, the motor is restarted, and current heat flow information is acquired, wherein the preset temperature is lower than a motor temperature threshold value.
In an exemplary embodiment, the preset temperature may be obtained by a material of a winding of the motor. For example, the developer sets the preset temperature in advance according to the material of the motor winding.
And step 204, acquiring a working space path of the joint motor, wherein the working space path is a path which is moved in the space by a mechanical assembly controlled by the joint motor when the mechanical assembly executes a specified task.
In one possible implementation, the working space path of the joint motor is obtained through the designated task based on a space path planning method, and the space path planning method includes an a-star algorithm.
For example, the designated task is to let the robot pass through an obstacle B from a point a on a map to a point C, and the robot divides the map into a plurality of small squares; according to the A star algorithm, all the small squares adjacent to the point A are found from the small square where the point A is located, then all the small squares adjacent to the four small squares are found, and the expansion to the outside is gradually carried out by parity of reasoning until the small square where the point C is located is found; and then, according to the searching sequence, the small square grid where the point C is positioned avoids the small square grid where the point B is positioned, and the small square grid where the point A is positioned is reversely pushed back to obtain the motion path of the robot.
In another possible implementation manner, the spatial path planning method includes a potential function method.
For example, when a workspace path of a multi-joint robot is planned by a potential function method, and when the starting point, the end point and the position of an obstacle of the robot are known, an artificial potential field is constructed by using a potential function in a workspace; the potential function may be an attractive/repulsive potential function. The working mechanism of the potential function method is as follows: enabling the terminal point to generate attraction force on the robot, enabling the barrier to generate repulsion force on the robot, and expressing a potential function (formula) at any position as the sum of the attraction force potential and the repulsion force potential; according to the gradient descending method, the robot is enabled to continuously walk along the opposite direction of the gradient from the starting point until the gradient is 0, and then the working space path of the robot can be planned.
Step 205, obtaining a weight value of the torque energy of the joint motor corresponding to the working space path based on the heat flow information.
In one possible implementation, the weight value is inversely related to the rate of increase of the moment.
For example, for every 1N/m increase in torque, the weight value becomes one-half of the original.
In one possible implementation manner, the heat flow information is subjected to predetermined processing, and a weighted value of the moment energy on the working space path is obtained. For example, the moment element in the heat flow information is removed to obtain a weight value of the moment energy on the working space path.
In one possible implementation manner, the heat flow on the working path is obtained through the heat flow information, and the heat flow on the working path is used as a weighted value of the moment energy on the working space path.
In one possible implementation, for a workspace path, when the heat flow information corresponding to the workspace path is determined, the weighted value of the moment energy on the workspace path can also be determined.
For example, the workspace path includes A, B points, and a certain weight value of the torque energy on the path between A, B points can be obtained from the heat flow information when performing the motor control planning.
And step 206, based on the local linearization method, segmenting the working space path to obtain N linear working space path segments, where N is an integer and is greater than or equal to 1.
In one possible implementation, the workspace path is locally linearized based on a second-order taylor expansion to obtain N linear workspace path segments.
Because a complete working space path may be nonlinear, and the nonlinear working space path is not beneficial to direct control, the scheme shown in the embodiment of the application regards the complete working space path as being formed by connecting a plurality of linear path segments in the head-to-head manner; therefore, in the embodiment of the present application, the complete workspace path may be segmented into a plurality of linear workspace path segments, so as to perform motor control on each linear workspace path segment in the following process.
Step 207, based on the weight value of the torque energy of the joint motor on the working space path and the specified constraint condition, processing the N linear working space path segments respectively to obtain the control parameters of the joint motor; the specified constraints include: dynamic constraints, angular velocity constraints, angular acceleration constraints, and moment constraints.
In an exemplary approach, the workspace path (s.t) includes the following constraints:
Figure BDA0002775512750000121
Figure BDA0002775512750000122
Figure BDA0002775512750000123
Figure BDA0002775512750000124
τmin≤τ≤τmax
wherein gamma, q,
Figure BDA0002775512750000125
τ, M, C, and G denote joint moment energy weight, joint rotation angle, angular velocity, angular acceleration, joint moment, mass matrix, Coriolis effect, centrifugal effect, and gravity, respectively, and subscript i denotes the ith joint. The constraints are respectively dynamic constraint, joint angular velocity constraint, joint angular acceleration constraint and rated joint torque constraint. In the related art, the geometric path of the workspace is determined, which ensures that the joint angle does not exceed the physical limits on motion, so the joint angle is not constrained in the constraint equation.
In the scheme shown in the embodiment of the application, the heat flow information is added into the objective function of the working space path, and the updated objective function of the joint motor is obtained.
The objective function is shown by the following equation:
Figure BDA0002775512750000131
in the above formula: q, q,
Figure BDA0002775512750000132
tfS respectively represent joint rotation angle, angular velocity, angular acceleration, joint movement time and path; k is a radical ofi0、Ri0、α、Ti1And TaThe torque coefficient of the ith joint motor, the winding internal resistance of the ith joint motor, the resistance temperature coefficient of the ith joint motor, the motor temperature of the ith joint motor and the environment temperature of the ith joint motor are respectively expressed, and the maximum torque output by the joint motor can be obtained based on the objective function.
In one possible implementation manner, the weighted value of the torque energy is positively correlated with the motor temperature of the joint motor.
For example, the weight value of the torque energy of the joint motor corresponding to the working space path can be defined by the following formula:
Ri0(1+αTi1-αTa)/ki 2
the subscript i denotes the ith joint. Along with the increase of the motor temperature of the joint motor, the weighted value of the corresponding torque energy is also increased, so that the constraint torque is reduced, the time for planning the working space path is prolonged, and the overhigh motor temperature is avoided. Correspondingly, along with the reduction of the motor temperature of the joint motor, the weighted value of the corresponding torque energy is also reduced, so that the torque can be increased, the time for planning the working space path is shortened, and the task is completed more quickly.
In the whole working space path (s.t), an objective function, inequality constraints and the like are convex functions, the path is divided into a plurality of sections by adopting a local linearization method, each section is approximated by a line segment, so that the original continuous variable solving problem is converted into a nonlinear convex cone optimization problem, and then a planning curve can be rapidly obtained by adopting a common open source optimization solver.
In another possible implementation, the objective function may further add a weighted moment rate term, resulting in the following formula:
Figure BDA0002775512750000133
where v is a weight coefficient. The objective function is to minimize the trade-off between "time to complete the track task" and "torque energy paid out", the smaller the parameter γ, the smaller the required execution time, and the larger the parameter γ, the smaller the energy paid out. However, in order to restrain the torque not to be excessively large to damage the motor, it is a possible practice in the related art to increase γ in the restraint conditionmin＜＝γ＜＝γmaxHowever, the constraint is conservative too much, and the scheme shown in the embodiment of the application outputs the maximum torque of the joint motor per se as long as the temperature of the motor is not too high.
In this equation, the weight of the moment energy is:
Figure BDA0002775512750000141
under the condition of determining the motion parameters, taking the absolute value of the derivative of the joint moment to the time as a moment change rate term; and summing the moment change rate terms, and multiplying by a weight coefficient to obtain a weighted moment change rate term. The weighted torque change rate term is used to reduce torque jumps in the entire process, so that torque changes in the entire workspace path are reduced and the planning curve is smoothed.
In a possible implementation manner, based on a weight value of the torque energy of the joint motor corresponding to the working space path and a specified constraint condition, the N linear working space path segments are respectively processed by a planning solver, and a control parameter of the joint motor is obtained.
In an exemplary scheme, the N linear working space path segments are respectively processed by a plan solver, and the positions of the end points of the N linear working path segments are determined; and calculating control parameters corresponding to each endpoint on the N linear working path sections based on the weighted value of the moment energy of the joint motor on the working space path and the specified constraint condition.
In one exemplary approach, the control parameters include: the joint motor corresponds to the moment at each time point of the working space path, the corresponding relation between the angle corresponding to the joint motor and each time point, the corresponding relation between the angular velocity of the joint motor and each time point, and the corresponding relation between the angular acceleration of the joint motor and each time point.
Please refer to table 1, which shows a parameter table of the temperature parameters of each joint of the multi-joint robot at different temperatures according to the embodiment of the present application.
TABLE 1
Figure BDA0002775512750000142
Group A indicates that the initial temperatures of the six joints are all 20 ℃; the group B indicates that after the joint motor is operated for a period of time, the temperature of the joints 1, 2, 3 is 120 degrees Celsius, and the temperature of the joints 4, 5, 6 is 90 degrees Celsius.
Please refer to fig. 4, which is a simulation diagram of the joint moments of the multi-joint robot in group a according to the embodiment of the present application. In the diagram, the vertical axis represents joint torque, and the horizontal axis represents time.
Please refer to fig. 5, which is a simulation diagram of the joint moments of the multi-joint robot in group B according to the embodiment of the present application. In the diagram, the vertical axis represents joint torque, and the horizontal axis represents time.
As can be seen from fig. 4 and 5, as the temperature increases, the joint torque of the joint motor decreases and the movement time of the motor increases. If a smooth torque curve is desired, a weighted torque rate of change term may be added to the objective function. For the same path, the higher the temperature is, the smaller the torque corresponding to the planning result is, and the longer the planning time is.
And 208, controlling the joint motor based on the control parameter.
In one possible implementation, the control parameters are used as input signals, transmitted to the joint motor control device, and output signals are generated; the motion of the joint motor is directly controlled through the output signal.
In an exemplary scheme, a lower tracking control system of the robot is installed in the control device of the joint motor.
In conclusion, in the process of controlling the joint motor, the heat flow information of the joint motor is obtained by using the acquired external temperature; then based on the heat flow information, obtaining control parameters of the joint motor; on the one hand, because when the operation of control joint motor, consider that the motor generates heat to motor moving influence, consequently, when the temperature of motor is lower, can export bigger moment, improve joint motor's work efficiency, and when the temperature of motor is higher, can let the motor stall, reduce motor winding's temperature, avoid joint motor problem such as inside device is ageing rapidly under lasting high load operation, thereby realized when protecting joint motor, promote joint motor's work efficiency.
In addition, according to the scheme shown in the embodiment of the application, on the premise that the calculation complexity of the control parameters is not improved, the control parameters of the joint motor are adjusted through the obtained heat flow information, and the consumption of calculation resources of the multi-joint robot is reduced.
Fig. 6 is a block diagram illustrating a structure of a joint motor control apparatus of a robot according to an exemplary embodiment. The joint motor control device of the robot can realize all or part of the steps in the method provided by the embodiment shown in fig. 1 or fig. 2, and comprises:
an external temperature obtaining module 601, configured to obtain an external temperature of a joint motor of the robot, where the external temperature includes at least one of an ambient temperature and a motor housing temperature;
a heat flow information obtaining module 602, configured to obtain heat flow information of the joint motor based on an external temperature; the heat flow information is used for indicating the heat flow of a motor winding of the joint motor;
a control parameter obtaining module 603, configured to obtain a control parameter of the joint motor based on the heat flow information;
and a motor control module 604 for controlling the joint motor based on the control parameter.
In a possible implementation manner, the control parameter obtaining module 603 includes:
the working space path acquisition submodule is used for acquiring a working space path of the joint motor, and the working space path is a path which moves in a space when a mechanical assembly controlled by the joint motor executes a specified task;
and the control parameter acquisition submodule is used for acquiring control parameters of the joint motor based on the working space path and the heat flow information.
In one possible implementation, the control parameter obtaining sub-module includes:
the weight obtaining unit is used for obtaining a weight value of the torque energy of the joint motor on the working space path based on the heat flow information;
the control parameter acquisition unit is used for acquiring control parameters of the joint motor based on the weight value of the moment energy of the joint motor on the working space path; the weight value is inversely related to the rate of increase of the moment.
In a possible implementation manner, the control parameter obtaining unit is further configured to control the parameters to include: the joint motor corresponds to the torque at each time point of the working space path, the corresponding relation between the angle corresponding to the joint motor and each time point, the corresponding relation between the angular speed of the joint motor and each time point, and the corresponding relation between the angular acceleration of the joint motor and each time point.
In one possible implementation manner, the control parameter obtaining unit includes:
the local linear processing subunit is used for segmenting the working space path based on a local linearization method to obtain N linear working space path segments, wherein N is an integer and is greater than or equal to 1;
and the control parameter acquisition subunit is used for acquiring control parameters of the joint motor based on the N linear working space path sections and the weighted values of the moment energy of the joint motor on the working space path.
In a possible implementation manner, the control parameter obtaining subunit is further configured to respectively process the N linear working space path segments based on a weight value of the torque energy of the joint motor on the working space path and a specified constraint condition, so as to obtain a control parameter of the joint motor; specifying constraints includes: dynamic constraints, angular velocity constraints, angular acceleration constraints, and moment constraints.
In a possible implementation manner, the control parameter obtaining subunit is further configured to, based on a weight value of the torque energy of the joint motor on the working space path and a specified constraint condition, respectively process the N linear working space path segments through a planning solver, and obtain the control parameter of the joint motor.
In a possible implementation manner, the working space path obtaining sub-module is further configured to obtain a working space path of the joint motor through a designated task based on a space path planning method, and the space path planning method includes an a-star algorithm.
In one possible implementation, the heat flow information obtaining module 602 includes:
the motor temperature acquisition submodule is used for acquiring the motor temperature of the joint motor based on the external temperature;
and the heat flow information acquisition submodule is used for acquiring the heat flow information of the joint motor based on the motor temperature and the external temperature.
In one possible implementation, the weight value is positively correlated with the motor temperature.
In a possible implementation manner, the heat flow information obtaining sub-module is further configured to obtain the heat flow information of the joint motor based on the motor temperature, the external temperature, the internal resistance of the winding of the joint motor, and the resistance temperature coefficient of the joint motor.
In one possible implementation, the motor temperature obtaining sub-module includes:
the input current acquisition unit is used for acquiring the input current of the joint motor;
and the motor temperature acquisition unit is used for acquiring the motor temperature of the joint motor based on the external temperature, the input current of the joint motor and the heat conduction model.
In one possible implementation manner, the heat flow information obtaining sub-module is further configured to obtain the heat flow information of the joint motor based on the motor temperature and the external temperature in response to the motor temperature being less than the motor temperature threshold.
In conclusion, in the process of controlling the joint motor, the heat flow information of the joint motor is obtained by using the acquired external temperature; then based on the heat flow information, obtaining control parameters of the joint motor; on one hand, when the operation of the joint motor is controlled, the influence of the heating of the motor on the operation of the motor is considered, so that when the temperature of the motor is lower, a larger torque can be output, the working efficiency of the joint motor is improved, and when the temperature of the motor is higher, the motor can stop operating, the temperature of a motor winding is reduced, the problems that an internal device of the joint motor is rapidly aged under continuous high-load operation and the like are solved, so that the working efficiency of the joint motor is improved while the joint motor is protected; on the other hand, on the premise of not improving the calculation complexity of the control parameters, the control parameters of the joint motor are adjusted through the obtained heat flow information, and the consumption of calculation resources of the multi-joint robot is reduced.
Fig. 7 is a schematic diagram of a robot according to an exemplary embodiment. The robot may be implemented as the robot in the various method embodiments described above. The robot 700 includes a processor/controller 701, a memory 702. The robot 700 further includes one or more joint motors 703 for moving mechanical components corresponding to one or more joints of the robot 700. The robot 700 further includes a current sensor 704 and a temperature sensor 705 corresponding to the joint motor 703. The current sensor 704 and the temperature sensor 705 are electrically connected to the processor/controller 701, respectively.
The memory 702 and its associated computer-readable media provide non-volatile storage for the robot 700.
Without loss of generality, the computer-readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Of course, those skilled in the art will appreciate that the computer storage media is not limited to the foregoing.
The memory also includes one or more programs, which are stored in the memory, and the processor/controller 701 implements all or part of the steps of the method shown in fig. 1 or fig. 2 by executing the one or more programs.
In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, the computer-readable storage medium having stored therein at least one program code, e.g., comprising computer programs (instructions), executable by a processor/controller to perform the methods shown in the various embodiments of the present application is also provided. For example, the non-transitory computer readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, a computer program product or computer program is also provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the methods shown in the various embodiments described above.
From the application perspective, the present application proposes a joint motor control scheme of a robot, which can be applied to a multi-joint robot, including but not limited to: mechanical arms, legged robots, and the like. The present application is not limited in this regard.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (13)

1. A method of controlling a joint motor of a robot, the method comprising:
acquiring the external temperature of a joint motor of the robot, wherein the external temperature comprises at least one of the ambient temperature and the temperature of a motor shell;
acquiring heat flow information of the joint motor based on the external temperature, wherein the heat flow information is used for indicating heat flow of a motor winding of the joint motor;
acquiring a working space path of the joint motor, wherein the working space path is a path which moves in a space when a mechanical assembly controlled by the joint motor executes a specified task;
obtaining a weighted value of the moment energy of the joint motor on the working space path based on the heat flow information;
acquiring control parameters of the joint motor based on the weighted value of the moment energy of the joint motor on the working space path; the weight value is inversely related to the rate of increase of the moment energy;
controlling the joint motor based on the control parameter.
2. The method of claim 1, wherein the control parameters comprise:
the joint motor corresponds to the moment on each time point of the working space path, the corresponding relation between the angle corresponding to the joint motor and each time point, the corresponding relation between the angular velocity of the joint motor and each time point, and the corresponding relation between the angular acceleration of the joint motor and each time point.
3. The method of claim 2, wherein the obtaining the control parameter of the joint motor based on the weighted value of the moment energy of the joint motor corresponding to the workspace path comprises:
based on a local linearization method, segmenting the working space path to obtain N linear working space path segments, wherein N is an integer and is greater than or equal to 1;
and acquiring the control parameters of the joint motor based on the N linear working space path sections and the weighted values of the moment energy of the joint motor on the working space path.
4. The method of claim 3, wherein the deriving the control parameters for the joint motors based on the N linear workspace path segments and weight values for the joint motors corresponding to moment energies on the workspace path comprises:
respectively processing the N linear working space path sections based on the weighted values of the moment energy of the joint motor on the working space path and the specified constraint conditions to obtain the control parameters of the joint motor;
the specified constraints include: dynamic constraints, angular velocity constraints, angular acceleration constraints, and moment constraints.
5. The method of any of claims 1 to 4, wherein said obtaining a workspace path for the joint motor comprises:
and obtaining the working space path of the joint motor through the specified task based on a space path planning method, wherein the space path planning method comprises an A star algorithm.
6. The method of any one of claims 1 to 4, wherein the obtaining heat flow information of the joint motor based on the external temperature comprises:
acquiring the motor temperature of the joint motor based on the external temperature;
and acquiring the heat flow information of the joint motor based on the motor temperature and the external temperature.
7. The method of claim 6, wherein the weight value is positively correlated with the motor temperature.
8. The method of claim 6, wherein the obtaining the heat flow information of the joint motor based on the motor temperature and the external temperature comprises:
and acquiring the heat flow information of the joint motor based on the motor temperature, the external temperature, the winding internal resistance of the joint motor and the resistance temperature coefficient of the joint motor.
9. The method of claim 6, wherein the obtaining the motor temperature of the joint motor based on the external temperature comprises:
acquiring an input current of the joint motor;
and acquiring the motor temperature of the joint motor based on the external temperature, the input current of the joint motor and the heat conduction model.
10. The method of claim 6, wherein the obtaining the heat flow information of the joint motor based on the motor temperature and the external temperature comprises:
and responding to the condition that the motor temperature is smaller than a motor temperature threshold value, and acquiring the heat flow information of the joint motor based on the motor temperature and the external temperature.
11. A joint motor control apparatus of a robot, the apparatus being used for a joint motor of the robot, the apparatus comprising:
the external temperature acquisition module is used for acquiring the external temperature of a joint motor of the robot, and the external temperature comprises at least one of the ambient temperature and the temperature of a motor shell;
the heat flow information acquisition module is used for acquiring heat flow information of the joint motor based on the external temperature, and the heat flow information is used for indicating heat flow of a motor winding of the joint motor;
the control parameter acquisition module is used for acquiring a working space path of the joint motor, wherein the working space path is a path which moves in a space when a mechanical assembly controlled by the joint motor executes a specified task; obtaining a weighted value of the moment energy of the joint motor on the working space path based on the heat flow information; acquiring control parameters of the joint motor based on the weighted value of the moment energy of the joint motor on the working space path; the weight value is inversely related to the rate of increase of the moment energy;
and the motor control module is used for controlling the joint motor based on the control parameters.
12. A computer device comprising a processor and a memory, said memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, said at least one instruction, said at least one program, said set of codes, or set of instructions being loaded and executed by said processor to implement a method of joint motor control of a robot as claimed in any one of claims 1 to 10.
13. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement a joint motor control method of a robot according to any one of claims 1 to 10.
CN202011263920.4A 2020-11-12 2020-11-12 Method, device and equipment for controlling joint motor of robot and storage medium Active CN112476423B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011263920.4A CN112476423B (en) 2020-11-12 2020-11-12 Method, device and equipment for controlling joint motor of robot and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011263920.4A CN112476423B (en) 2020-11-12 2020-11-12 Method, device and equipment for controlling joint motor of robot and storage medium

Publications (2)

Publication Number Publication Date
CN112476423A CN112476423A (en) 2021-03-12
CN112476423B true CN112476423B (en) 2022-03-08

Family

ID=74930114

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011263920.4A Active CN112476423B (en) 2020-11-12 2020-11-12 Method, device and equipment for controlling joint motor of robot and storage medium

Country Status (1)

Country Link
CN (1) CN112476423B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114147709B (en) * 2021-11-27 2023-08-11 深圳市优必选科技股份有限公司 Robot control method, robot control device and electronic equipment
CN114102606B (en) * 2021-12-22 2022-12-23 北京航空航天大学杭州创新研究院 Robot motion information planning method and related device
CN114407014A (en) * 2022-01-25 2022-04-29 达闼机器人股份有限公司 Control method and device for robot actuator, medium, equipment and robot

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3348425B2 (en) * 1993-11-12 2002-11-20 株式会社安川電機 Industrial robot control device
CN102890508A (en) * 2011-07-22 2013-01-23 鸿奇机器人股份有限公司 Self-propelled electronic device and method for controlling behavior of self-propelled electronic device
CN103472833A (en) * 2013-09-16 2013-12-25 苏州工业园区职业技术学院 Full-digital servo controller of four-wheel micro-mouse based on dual processors
CN106183827A (en) * 2016-08-17 2016-12-07 重庆长安汽车股份有限公司 A kind of electric vehicle and motor excess temperature protection method thereof and system
CN106346465A (en) * 2015-07-17 2017-01-25 日本电产三协株式会社 Industrial robot and control method thereof
CN107430037A (en) * 2015-03-09 2017-12-01 超威半导体公司 For changing the power management of power limit based on equipment skin temperature
EP3157163B1 (en) * 2014-06-13 2018-07-11 NSK Ltd. Motor control device and electric power steering device equipped with same
CN108718167A (en) * 2018-06-14 2018-10-30 同济大学 For the torque estimation method of permanent magnet synchronous motor, medium, equipment and system
CN109210732A (en) * 2018-08-29 2019-01-15 重庆美的通用制冷设备有限公司 Excess temperature protection method, device, air-conditioner set and the electronic equipment of air-conditioner set
CN109986564A (en) * 2019-05-20 2019-07-09 上海应用技术大学 Industrial machinery arm paths planning method
US10406682B2 (en) * 2017-01-13 2019-09-10 Nidec Corporation Motor operation control system, multi-axis mechanical apparatus, and motor operation control method
CN110815209A (en) * 2018-08-09 2020-02-21 发那科株式会社 Control device, grease cooling method, and management device
CN111221367A (en) * 2020-03-12 2020-06-02 合肥工业大学 Control method of multifunctional actuator combining motor and controllable clutch
CN111371379A (en) * 2018-12-25 2020-07-03 沈阳新松机器人自动化股份有限公司 Dynamic motor current adjusting method
CN111386453A (en) * 2017-11-22 2020-07-07 川崎重工业株式会社 Aging diagnostic device for mechanical device, aging diagnostic method for mechanical device executed in aging diagnostic device, and aging diagnostic method for mechanical device

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4391719B2 (en) * 2002-03-20 2009-12-24 トヨタ自動車株式会社 Motor temperature estimation device and motor control device
JP4340299B2 (en) * 2007-03-08 2009-10-07 株式会社日立産機システム Motor control device and motor control system
CA2908761A1 (en) * 2013-04-11 2014-10-16 Nissan Motor Co., Ltd. Device for predicting energy consumption and method for predicting energy consumption
US9354651B2 (en) * 2013-08-28 2016-05-31 Rockwell Automation Technologies, Inc. Sizing and tuning methodology for optimized motion control components and energy efficiency
US9586316B1 (en) * 2015-09-15 2017-03-07 Google Inc. Determination of robotic step path
EP3576298B1 (en) * 2017-03-01 2020-12-16 Panasonic Intellectual Property Management Co., Ltd. Robot control method
US11070049B2 (en) * 2017-11-08 2021-07-20 Eaton Intelligent Power Limited System, method, and apparatus for power distribution in an electric mobile application using a combined breaker and relay
US11529774B2 (en) * 2017-12-29 2022-12-20 II John Tyson In-situ monitoring of thermoformable composites
CN108621157A (en) * 2018-04-27 2018-10-09 上海师范大学 Mechanical arm energetic optimum trajectory planning control method and device based on model constraint
JP2019216574A (en) * 2018-06-14 2019-12-19 ファナック株式会社 Motor control device that drives one spindle by switching between two motors
CN111262503B (en) * 2020-02-15 2021-08-31 杭州电子科技大学 Thermal protection method for direct-current brushless motor
CN111030559B (en) * 2020-03-10 2020-07-07 之江实验室 Motor driving system of biped robot and intelligent temperature protection method

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3348425B2 (en) * 1993-11-12 2002-11-20 株式会社安川電機 Industrial robot control device
CN102890508A (en) * 2011-07-22 2013-01-23 鸿奇机器人股份有限公司 Self-propelled electronic device and method for controlling behavior of self-propelled electronic device
CN103472833A (en) * 2013-09-16 2013-12-25 苏州工业园区职业技术学院 Full-digital servo controller of four-wheel micro-mouse based on dual processors
EP3157163B1 (en) * 2014-06-13 2018-07-11 NSK Ltd. Motor control device and electric power steering device equipped with same
CN107430037A (en) * 2015-03-09 2017-12-01 超威半导体公司 For changing the power management of power limit based on equipment skin temperature
CN106346465A (en) * 2015-07-17 2017-01-25 日本电产三协株式会社 Industrial robot and control method thereof
CN106183827A (en) * 2016-08-17 2016-12-07 重庆长安汽车股份有限公司 A kind of electric vehicle and motor excess temperature protection method thereof and system
US10406682B2 (en) * 2017-01-13 2019-09-10 Nidec Corporation Motor operation control system, multi-axis mechanical apparatus, and motor operation control method
CN111386453A (en) * 2017-11-22 2020-07-07 川崎重工业株式会社 Aging diagnostic device for mechanical device, aging diagnostic method for mechanical device executed in aging diagnostic device, and aging diagnostic method for mechanical device
CN108718167A (en) * 2018-06-14 2018-10-30 同济大学 For the torque estimation method of permanent magnet synchronous motor, medium, equipment and system
CN110815209A (en) * 2018-08-09 2020-02-21 发那科株式会社 Control device, grease cooling method, and management device
CN109210732A (en) * 2018-08-29 2019-01-15 重庆美的通用制冷设备有限公司 Excess temperature protection method, device, air-conditioner set and the electronic equipment of air-conditioner set
CN111371379A (en) * 2018-12-25 2020-07-03 沈阳新松机器人自动化股份有限公司 Dynamic motor current adjusting method
CN109986564A (en) * 2019-05-20 2019-07-09 上海应用技术大学 Industrial machinery arm paths planning method
CN111221367A (en) * 2020-03-12 2020-06-02 合肥工业大学 Control method of multifunctional actuator combining motor and controllable clutch

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
10. ETG/GMM-Symposium Innovative small Drives and Micro-Motor Systems》.2015, *
Peter Stueckelmaier ; Martin Grotjahn ; Carsten Fraeger.Identification of the Inverse Dynamics of a Serial Robot for Robot Drive Control.《IKMT 2015 *
机器人柔性制造系统的在线测量与控制补偿技术;李睿;《中国博士学位论文全文数据库 信息科技辑》;20160815(第8期);全文 *

Also Published As

Publication number Publication date
CN112476423A (en) 2021-03-12

Similar Documents

Publication Publication Date Title
CN112476423B (en) Method, device and equipment for controlling joint motor of robot and storage medium
US11579591B2 (en) Feedforward control method for floating base dynamics, computer-readable storage medium and robot
US9031691B2 (en) Systemic derivation of simplified dynamics for humanoid robots
US8924021B2 (en) Control of robots from human motion descriptors
US11642786B2 (en) Humanoid robot and its balance control method and computer readable storage medium
RU2680628C2 (en) Omnidirectional wheeled humanoid robot based on linear predictive position and velocity controller
JP6496396B2 (en) Humanoid robot with omnidirectional wheel based on linear predictive position and velocity controller
KR102003216B1 (en) Motor control and / or adjustment for the robot
Haddadin et al. Real-time reactive motion generation based on variable attractor dynamics and shaped velocities
JP2003241836A (en) Control method and apparatus for free-running mobile unit
Chen et al. Bioinspired closed-loop CPG-based control of a robot fish for obstacle avoidance and direction tracking
US20120083922A1 (en) Walking robot and control method thereof
US9205887B2 (en) Constrained resolved acceleration control
Kelly et al. Non-linear robust control for inverted-pendulum 2D walking
US9862095B2 (en) Control device for mobile robot
Hu et al. Vision-based impedance control of an aerial manipulator using a nonlinear observer
Samy et al. QP-based adaptive-gains compliance control in humanoid falls
CN112476432B (en) Method, device and equipment for controlling joint motor of robot and storage medium
Sadeghian et al. Visual servoing with safe interaction using image moments
Mohammad Hossein Fallah et al. Conjugated visual predictive control for constrained visual servoing
JP7168011B2 (en) Motion model calculation device, control device, joint mechanism, motion model calculation method, program
Kecskés et al. Embedding optimized trajectory and motor controller into the Szabad (ka)-II hexapod robot
Coelho et al. Development and implementation of a new approach for posture control of a hexapod robot to walk in irregular terrains
JP2023075884A (en) Dynamic action planning system
JP6500492B2 (en) Robot controller

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
REG Reference to a national code

Ref country code: HK

Ref legal event code: DE

Ref document number: 40041353

Country of ref document: HK

GR01 Patent grant
GR01 Patent grant